Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...
#include <joint_feedback_relay_handler.h>
Public Member Functions | |
| virtual bool | init (SmplMsgConnection *connection, std::vector< std::string > &joint_names) |
| Class initializer. | |
| virtual bool | init (SmplMsgConnection *connection, std::map< int, RobotGroup > &robot_groups) |
| Class initializer. | |
| JointFeedbackRelayHandler (int robot_id=-1) | |
| Constructor. | |
Protected Member Functions | |
| virtual bool | convert_message (SimpleMessage &msg_in, JointTrajectoryPoint *joint_state) |
| Convert joint message into intermediate message-type. | |
| virtual bool | convert_message (SimpleMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id) |
| Convert joint message into intermediate message-type. | |
| bool | create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback *control_state, sensor_msgs::JointState *sensor_state) |
| Convert joint message into publish message-types. | |
| bool | create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback *control_state, sensor_msgs::JointState *sensor_state, int robot_id) |
| Convert joint message into publish message-types. | |
| virtual bool | select (const DynamicJointsGroup &all_joint_state, const std::vector< std::string > &all_joint_names, DynamicJointsGroup *pub_joint_state, std::vector< std::string > *pub_joint_names) |
| virtual bool | transform (const DynamicJointsGroup &state_in, DynamicJointsGroup *state_out) |
| Transform joint state before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. | |
Protected Attributes | |
| int | robot_id_ |
| bool | version_0_ |
Private Member Functions | |
| bool | convert_message (JointFeedbackMessage &msg_in, JointTrajectoryPoint *joint_state) |
| Convert joint feedback message into intermediate message-type. | |
| bool | convert_message (JointFeedbackMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id) |
| Convert joint feedback message into intermediate message-type. | |
Static Private Member Functions | |
| static bool | JointDataToVector (const industrial::joint_data::JointData &joints, std::vector< double > &vec, int len) |
Detailed Description
Message handler that relays joint positions (converts simple message types to ROS message types and publishes them)
THIS CLASS IS NOT THREAD-SAFE
Definition at line 62 of file joint_feedback_relay_handler.h.
Constructor & Destructor Documentation
| industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::JointFeedbackRelayHandler | ( | int | robot_id = -1 | ) | [inline] |
Constructor.
Definition at line 68 of file joint_feedback_relay_handler.h.
Member Function Documentation
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | SimpleMessage & | msg_in, |
| JointTrajectoryPoint * | joint_state | ||
| ) | [protected, virtual] |
Convert joint message into intermediate message-type.
- Parameters:
-
[in] msg_in Message from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 146 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | SimpleMessage & | msg_in, |
| DynamicJointsGroup * | joint_state, | ||
| int | robot_id | ||
| ) | [protected, virtual] |
Convert joint message into intermediate message-type.
- Parameters:
-
[in] msg_in Message from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 134 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | JointFeedbackMessage & | msg_in, |
| JointTrajectoryPoint * | joint_state | ||
| ) | [private] |
Convert joint feedback message into intermediate message-type.
- Parameters:
-
[in] msg_in JointFeedbackMessage from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Definition at line 226 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | JointFeedbackMessage & | msg_in, |
| DynamicJointsGroup * | joint_state, | ||
| int | robot_id | ||
| ) | [private] |
Convert joint feedback message into intermediate message-type.
- Parameters:
-
[in] msg_in JointFeedbackMessage from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Definition at line 176 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::create_messages | ( | SimpleMessage & | msg_in, |
| control_msgs::FollowJointTrajectoryFeedback * | control_state, | ||
| sensor_msgs::JointState * | sensor_state | ||
| ) | [protected, virtual] |
Convert joint message into publish message-types.
- Parameters:
-
[in] msg_in Message from robot connection [out] control_state FollowJointTrajectoryFeedback message for ROS publishing [out] sensor_state JointState message for ROS publishing
- Returns:
- true on success, false otherwise
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 72 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::create_messages | ( | SimpleMessage & | msg_in, |
| control_msgs::FollowJointTrajectoryFeedback * | control_state, | ||
| sensor_msgs::JointState * | sensor_state, | ||
| int | robot_id | ||
| ) | [protected, virtual] |
Convert joint message into publish message-types.
- Parameters:
-
[in] msg_in Message from robot connection [out] control_state FollowJointTrajectoryFeedback message for ROS publishing [out] sensor_state JointState message for ROS publishing
- Returns:
- true on success, false otherwise
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 87 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::init | ( | SmplMsgConnection * | connection, |
| std::vector< std::string > & | joint_names | ||
| ) | [virtual] |
Class initializer.
- Parameters:
-
connection simple message connection that will be used to send replies. joint_names list of joint-names for msg-publishing. - Count and order should match data from robot connection.
- Use blank-name to exclude a joint from publishing.
- Returns:
- true on success, false otherwise (an invalid message type)
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 58 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::init | ( | SmplMsgConnection * | connection, |
| std::map< int, RobotGroup > & | robot_groups | ||
| ) | [virtual] |
Class initializer.
- Parameters:
-
connection simple message connection that will be used to send replies. joint_names list of joint-names for msg-publishing. - Count and order should match data from robot connection.
- Use blank-name to exclude a joint from publishing.
- Returns:
- true on success, false otherwise (an invalid message type)
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 47 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::JointDataToVector | ( | const industrial::joint_data::JointData & | joints, |
| std::vector< double > & | vec, | ||
| int | len | ||
| ) | [static, private] |
Definition at line 158 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::select | ( | const DynamicJointsGroup & | all_joint_state, |
| const std::vector< std::string > & | all_joint_names, | ||
| DynamicJointsGroup * | pub_joint_state, | ||
| std::vector< std::string > * | pub_joint_names | ||
| ) | [protected, virtual] |
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 277 of file joint_feedback_relay_handler.cpp.
| virtual bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::transform | ( | const DynamicJointsGroup & | state_in, |
| DynamicJointsGroup * | state_out | ||
| ) | [inline, protected, virtual] |
Transform joint state before publishing. Can be overridden to implement, e.g. robot-specific joint coupling.
- Parameters:
-
[in] state_in joint state, exactly as passed from robot connection. [out] state_out transformed joint state (in same order/count as input state)
- Returns:
- true on success, false otherwise
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 118 of file joint_feedback_relay_handler.h.
Member Data Documentation
int industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::robot_id_ [protected] |
Definition at line 88 of file joint_feedback_relay_handler.h.
bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::version_0_ [protected] |
Definition at line 89 of file joint_feedback_relay_handler.h.
The documentation for this class was generated from the following files: